/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "can_analysis.h"
#include "hit_recognition.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
HAL_StatusTypeDef can_sendstate;
HAL_StatusTypeDef can_initstate1;
HAL_StatusTypeDef can_initstate2;
extern unsigned int time_2ms_count;
uint32_t while_time_record=0;
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  can_initstate2=HAL_TIM_Base_Start_IT(&htim3);
  can_initstate1=CAN_Filter_Config();
  HAL_Delay(10);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  CAN_RefereeStart_SendMsg();
  while (1)
  {
//	  if(time_2ms_count%100)
//	  {
//		  //can_sendstate=CAN_TRANSMIT();
//		  uint8_t data[8]={0,1,2,3,4,5,6,7};
//		  can_sendstate=CANx_SendNormalData(&hcan,0x201,data);
//	  }
	  
	  ALLAutoTurnON();
	 if(time_2ms_count-while_time_record>=200)
	 {
		 CAN_HeartBeat_SendMsg();
		 while_time_record=time_2ms_count;
	 }
	 
	 static uint8_t key_color_last=0;
	 static uint8_t color_state=0;
	 if(HAL_GPIO_ReadPin(KEY_COLOR_GPIO_Port,KEY_COLOR_Pin)==0&&key_color_last==1)
	 {
		 color_state=!color_state;
		 if(color_state)
		 {
			 CAN_SetID0Blue2Red_SendMsg();
			 CAN_SetID1Blue2Red_SendMsg();
			 CAN_SetID2Blue2Red_SendMsg();
			 CAN_SetID3Blue2Red_SendMsg();
			 CAN_SetID4Blue2Red_SendMsg();
		 }
		 else
		 {
			 CAN_SetID0Red2Blue_SendMsg();
			 CAN_SetID1Red2Blue_SendMsg();
			 CAN_SetID2Red2Blue_SendMsg();
			 CAN_SetID3Red2Blue_SendMsg();
			 CAN_SetID4Red2Blue_SendMsg();
		 }
		 //change color
		 
	 }
	 key_color_last=HAL_GPIO_ReadPin(KEY_COLOR_GPIO_Port,KEY_COLOR_Pin);
	 
//	 if(time_2ms_count>2500&&time_2ms_count%2500==0)
//	 {
//		
//		 CAN_SetID0Blue2Red_SendMsg();
//		 CAN_SetID1Blue2Red_SendMsg();
//		 CAN_SetID2Blue2Red_SendMsg();
//	 }
//	 else if(time_2ms_count>2500&&(time_2ms_count+1100)%2500==0)
//	 {
//		 CAN_SetID0Red2Blue_SendMsg();
//		 CAN_SetID1Red2Blue_SendMsg();
//		 CAN_SetID2Red2Blue_SendMsg();
//	 }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
